public static SensorReading CreateFromDevice(I2cPeripheral device, SensorSettings sensorSettings)
{
// Read the current control register
var status = device.ReadRegister(RegisterAddresses.ControlTemperatureAndPressure.Address);
// Force a sample
status = BitHelpers.SetBit(status, 0x00, true);
device.WriteRegister(RegisterAddresses.ControlTemperatureAndPressure.Address, status);
// Wait for the sample to be taken.
do
{
status = device.ReadRegister(RegisterAddresses.ControlTemperatureAndPressure.Address);
} while (BitHelpers.GetBitValue(status, 0x00));
var sensorData = device.ReadRegisters(
RegisterAddresses.AllSensors.Address,
RegisterAddresses.AllSensors.Length)
.AsSpan();
var rawPressure = GetRawValue(sensorData.Slice(0, 3));
var rawTemperature = GetRawValue(sensorData.Slice(3, 3));
var rawHumidity = GetRawValue(sensorData.Slice(6, 2));
//var rawVoc = GetRawValue(sensorData.Slice(8, 2));
var compensationData1 = device.ReadRegisters(RegisterAddresses.CompensationData1.Address,
RegisterAddresses.CompensationData1.Length);
var compensationData2 = device.ReadRegisters(RegisterAddresses.CompensationData2.Address,
RegisterAddresses.CompensationData2.Length);
var compensationData = ArrayPool <byte> .Shared.Rent(64);
try {
Array.Copy(compensationData1, 0, compensationData, 0, compensationData1.Length);
Array.Copy(compensationData2, 0, compensationData, 25, compensationData2.Length);
var temp = RawToTemp(rawTemperature,
new TemperatureCompensation(compensationData));
var pressure = RawToPressure(temp, rawPressure,
new PressureCompensation(compensationData));
var humidity = RawToHumidity(temp, rawHumidity,
new HumidityCompensation(compensationData));
return(new SensorReading(pressure, temp, humidity, 0, sensorSettings));
} finally {
ArrayPool <byte> .Shared.Return(compensationData, true);
}
}
/// <summary>
/// Reads calibration registers and calculates current calibration from them
/// </summary>
/// <returns>Calibration values</returns>
public byte[] CheckCalibration()
{
byte callibration = bno.ReadRegister(53);
byte system = (byte)((callibration >> 6) & 3);
byte gyro = (byte)((callibration >> 4) & 3);
byte acc = (byte)((callibration >> 2) & 3);
byte mag = (byte)((callibration >> 0) & 3);
return(new byte[] { system, gyro, acc, mag });
}